EP3845345A1 - Pince d'articulation modulaire - Google Patents

Pince d'articulation modulaire Download PDF

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Publication number
EP3845345A1
EP3845345A1 EP20214978.7A EP20214978A EP3845345A1 EP 3845345 A1 EP3845345 A1 EP 3845345A1 EP 20214978 A EP20214978 A EP 20214978A EP 3845345 A1 EP3845345 A1 EP 3845345A1
Authority
EP
European Patent Office
Prior art keywords
actuator
gripper
segment
base
distal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20214978.7A
Other languages
German (de)
English (en)
Inventor
Matthew R. Williams
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
PHD Inc
Original Assignee
PHD Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by PHD Inc filed Critical PHD Inc
Publication of EP3845345A1 publication Critical patent/EP3845345A1/fr
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Definitions

  • the present invention relates to gripper tooling, and, more particularly, to self-articulating grippers.
  • the present invention incorporates some elements of the autonomously encapsulating gripper tooling previously disclosed in U.S. patent application serial no. 16/430,724 , entitled “AUTONOMOUSLY ENCAPSULATING GRIPPER TOOLING", filed June 4, 2019, which claims benefit to U.S. provisional patent application serial no. 62/682,471, filed June 8, 2018 .
  • Grippers are mechanical devices which generally include jaws that are moved together or apart by motive devices, such as electric motors or pneumatic pistons.
  • Tooling is typically fastened to the jaw to provide some degree of conformal contact between the surface of the tool and one or more surfaces of a gripped workpiece.
  • the jaws Once the jaws have moved the fastened tooling into a position of contact with the gripped workpiece, the jaws produce a force against the tooling which is transferred by the tooling to retain the workpiece so that the position of the workpiece might be subsequently translated or rotated. It is often desirable that the tooling fully or partially encapsulate the profile of the workpiece to prevent relative motion from occurring between the workpiece and tooling as the workpiece is subsequently translated or rotated or external forces are applied to the workpiece.
  • the present invention provides a modular gripper capable of autonomously adjusting to conform to the gripped profile of the workpiece, so as to encapsulate a broad spectrum of shapes and sizes of workpieces.
  • the modular gripper comprises a single, articulating finger which is actuated by the application of fluid pressure to one or more internal fluid cylinders.
  • a plurality of modular grippers can be arrayed together to increase the total gripping force applied to a gripped workpiece and/or the locations at which the gripping force is applied.
  • the invention in one form is directed to a gripper for gripping a workpiece.
  • the gripper including a base, at least one middle segment pivotally connected to the base, a distal segment pivotally connected to the at least one middle segment, at least one actuator disposed within the base, an adducting tendon having a proximal end attached to the at least one actuator and a distal end attached to the distal segment, and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment.
  • the at least one middle segment and the distal segment are configured for gripping the workpiece as the at least one actuator moves in a first direction and ungripping the workpiece as the at least one actuator moves in a second direction which is opposite to the first direction.
  • the invention in another form is directed to a gripper array for gripping a workpiece.
  • the gripper array including a manifold and a plurality of grippers mounted on the manifold.
  • Each gripper of the plurality of grippers includes a base, at least one middle segment pivotally connected to the base, a distal segment pivotally connected to the at least one middle segment, at least one actuator disposed within the base, an adducting tendon having a proximal end attached to the at least one actuator and a distal end attached to the distal segment, and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment.
  • the at least one middle segment and the distal segment of each gripper of the plurality of grippers are configured for gripping the workpiece as the at least one actuator moves in a first direction and ungripping the workpiece as the at least one actuator moves in a second direction which is opposite to the first direction.
  • the invention in yet another form is directed to a method for gripping a workpiece.
  • the method includes an initial step of providing a gripper.
  • the gripper includes a base, at least one middle segment pivotally connected to the base, a distal segment pivotally connected to the at least one middle segment, at least one actuator disposed within the base, an adducting tendon having a proximal end attached to the at least one actuator and a distal end attached to the distal segment, and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment.
  • the method further includes a step of gripping the workpiece, by the at least one middle segment and the distal segment, upon moving the at least one actuator in a first direction.
  • the method further includes a step of ungripping the workpiece, by the at least one middle segment and the distal segment, upon moving the at least one actuator in a second direction which is opposite to the first direction.
  • An advantage of the present invention is that the gripper finger articulates, via the action of the internal fluid powered cylinder, to encapsulate a plethora of differently-shaped workpieces.
  • Another advantage of the present invention is that a plurality of grippers can be easily arrayed together to increase the total gripping force applied to a gripped workpiece and/or the locations at which the gripping force is applied.
  • Gripper 100 may include an adducting tendon 102 having a proximal end connected to yoke 103 within the base 101 and a distal end connected to the distal segment 120.
  • the adducting tendon 102 may be in the form of a cable 102.
  • a setscrew 104 may mechanically fasten the proximal end of the cable 102 to the yoke 103.
  • the cable 102 may be attached with a suitable adhesive applied between the cable 102 and the yoke 103.
  • the cable 102 may be composed of any desired material.
  • the cable 102 is a polymer cable which offers the advantages over a traditional steel cable of improved resistance to fatigue and corrosion, greater flexibility, improved dissipation of mechanical shock, and lower cost.
  • a pulley 105 supported by pivot pin 106 pressed into complimentary holes in base 101, routes the motion of cable 102 so that as the proximal end of the cable 102 is pulled by the motion of yoke 103 relative to base 101, cable 102 is drawn through the central passages of articulated segments 110.
  • pulley 105 is shown as being directly supported by pivot pin 106, it is understood that a suitable commercial bearing bushing, radial ball bearing, or needle bearing could be interposed between the pulley and pin when the size of pulley 105 is sufficiently large to allow doing so.
  • Pivot pins 107 pass though complimentary holes in base 101 and segments 110 and 120 to attach common segments 110 to base 101, to each other, and to distal segment 120, forming a chain of pinned articulated segments radiating outwards from base 101.
  • segments 110 and segment 120 are shown as being directly supported by pivot pins 107, it is understood that a suitable commercial bearing bushing, radial ball bearing, or needle bearing could be interposed between the pivot hole in the segments and pin 107 when the size of segment is sufficiently large to allow doing so.
  • the upper, distal end of the cable 102 may be mechanically fastened to the distal segment 120 with an upper knurled cylindrical cleat 108.
  • the cable 102 and the segment 120 may be additionally or alternatively mechanically attached to one another by a suitable adhesive applied between the cable 102 and the segment 120 and/or suitable setscrew configured to reside within segment 120 to apply a clamping force against cable 102.
  • Cable 102 passes over pulleys 109 disposed within each identical segment 110. In this manner, cable 102, suitably attached between yoke 103 and distal segment 120, effectively forms the taut adducting tendon 102 located on one side of segment pivot pins 107.
  • pulleys 109 are shown as being directly supported by pivot pins 106 pressed into complimentary holes in segments 110, it is understood that a suitable commercial bearing bushing, radial ball bearing, or needle bearing could be interposed between the pulley and pin when the size of pulley 109 is sufficiently large to allow doing so.
  • Gripper 100 may include an abducting tendon 111.
  • An external strip 111 may effectively form the abducting tendon 111, which is located on the opposing side of pivot pins 107.
  • the external strip 111 may be composed of a suitable elastomeric material.
  • the distal end of the strip 111 is attached with setscrew 112 or in any desired way, such as thermal or adhesive bonding, into a complimentary groove in distal segment 120.
  • the proximal end of elastomeric strip 111 is disposed within a complementary slot in base 101 and is attached to base 101 by the clamping action of setscrew 113 or by other suitable thermal or adhesive bonding.
  • the portion of strip 111 between the distal and proximal attached ends is unconstrained and free to stretch or relax.
  • strip 111 is stretched during installation to create a tension in the strip 111 which acts to pull distal segment 120 toward base 101. This pull induces a torque in distal segment 120 and common segments 110 which acts to rotate each segment counterclockwise (CCW) with respect to pivot pins 107.
  • strip 111 could be replaced by one or more helical extension springs or a flexible, but non-stretchable tensile member attached to a suitable spring to provide the same function as an elastomeric strip.
  • Bosses 114 protruding from the sides of common segments 110, engage complimentary slots 115, in base 101 and segments 110 to constrain the angle of CCW rotation of the segment pinned to base 101 and each successive pinned segment in the segment chain, relative to the prior segment ( FIG. 4 ).
  • bosses 114 within slots 115 the segments cannot rotate CCW about pivots 107 beyond a position in which the segments are in a straight, vertical alignment with one another.
  • Clockwise (CW) rotation of any segment under the influence of an external torque causes additional stretching of strip 111, with a resulting increase in the torque applied by the strip to the CW rotated segment.
  • strip 111 functions as an abducting tendon which constantly applies a torque to segments 110 and 120 about pivot pin 107 to restore the segments into straight vertical alignment with one another.
  • Downward motion of adductor cable 102 through the central passages of segments 110 induces a CW torque in segments 110 and 120 that causes the segments to rotate CW about pivot pins 107, further stretching abductor strip 111.
  • Pads 116 are suitably bonded into complimentary recesses in segments 110.
  • Pads 116 are constructed of a material such as a suitable elastomer or a nanodiamond impregnated metal substrate, possessing a high coefficient of static friction, so as to enhance the frictional forces generated between the pad and any surface of the gripped workpiece that the pad might contact.
  • Cleat 108 mechanically fastens the distal end of adductor cable 102 to distal segment 120.
  • Cleat 108 is comprised of central cylinder 108C the outer diameter of which receives a straight knurl or other friction enhancing treatment such as a nanodiamond impregnated plating.
  • Bosses 108A and 108B flank central cylinder 108C ( FIG. 2 ).
  • a complimentary relief 120C forms a cleat cavity 120C within segment 120 to prevent any portion of the central cylinder 108C of cleat 108 from contacting any portion of segment 120 ( FIGS. 2 and 5 ).
  • Central cylinder 108C is free to contact the surface of cable 102 which is pressed into contact with surface 120D of segment 120 by the action of central cylinder 108C.
  • Angle 10 denotes the angle formed by surfaces 120A and 120B and cable contact surface 120D in segment 120. Angle 10 is chosen to be shallow, in the range of 10 to 30 degrees.
  • Arrow 20 indicates the force applied to cleat central cylinder 108A to install cleat 108 into cleat cavity 120C of distal segment 120. While cable 102 is held taut, Force 20 is applied to the left of the axis of central cylinder 108C as cleat 108 is guided into the mouth of recess 120C, causing the surface of cylinder 108C to roll CCW against the surface of cable 102 while surfaces 108A and 108B slide against surfaces 120A and 120B, respectively.
  • the acute nature of angle 10 creates a wedging action which decreases the space between surfaces 120A and 120B and 120D as cleat 108 moves progressively into recess 120C.
  • Gripper 100 may include at least one actuator to provide motive force against yoke 103.
  • the at least one actuator may include at least one fluid actuator.
  • the at least one fluid actuator may include at least one piston 121A, 121B disposed and slidable within at least one cylinder 123A.
  • a surface of the yoke 103 may bear against complimentary faces of pistons 112A and 112B.
  • the yoke 103 operably connects and attaches the cable 102 to the at least one actuator.
  • Pistons 121A and 121B are contained within complimentary bores within cylinders 123A and 123B, respectively, such that the pistons are free to translate along the longitudinal axes of the cylinders 123A and 123B, but are constrained from radial movement.
  • Elastomeric seals 122A and 122B seal the periphery of pistons 121A and 121B against the interior bores of cylinders 123A and 123B, respectively, to prevent the egress of motive fluid introduced into cylinders 123A and 123B between cap 124 and pistons 121A and 121B, around pistons 121A and 121B, respectively.
  • Cylinders 123A and 124B may be press-fit, welded, soldered or braised, or adhesively bonded onto complimentary bosses provided on cap 124 to prevent the egress of motive fluid between the cylinders and cap.
  • a threaded port in the bottom of the cap 124 accepts a mating fitting 126 to allow one or a plurality of grippers 100 to be mounted onto a manifold 40 ( FIG. 11 ) which shares a common fluid passage 50 with all grippers.
  • O-ring 127 prevents the egress of motive fluid between the fitting 126 and the complimentary manifold fluid passage 50.
  • the periphery of fitting 126 may similarly be sealed against a complimentary face of cap 124 with O-ring 125.
  • Plug 128, closes off the open ends of cylinders 123A and 123B to prevent the ingress of contaminants into the cylinders.
  • gripper 200 In an analogous manner to the embodiment of gripper 100, gripper 200 consists of base 201 to which is attached a chain of multiple identical articulated segments 210, capped by an articulated distal segment 220.
  • Gripper 200 may include an adducting tendon 202 having a proximal end connected to yoke 203 and a distal end connected to the distal segment 220.
  • the adducting tendon 202 may be in the form of a cable 202.
  • a setscrew 204 may mechanically fasten the proximal end of the cable 202 to the yoke 203.
  • the cable 202 may be attached with a suitable adhesive applied between the cable 202 and the yoke 203.
  • the cable 202 may be composed of any desired material.
  • the cable 202 is a polymer cable which offers the advantages over traditional steel cable of improved resistance to fatigue and corrosion, greater flexibility, improved dissipation of mechanical shock, and lower cost.
  • a pulley 205 supported by pivot pin 206 pressed into complimentary holes in base 201, routes the motion of cable 202 so that as the proximal end of the cable 202 is pulled by the motion of yoke 203 relative to base 201, cable 202 is drawn through the central passages of articulated segments 210.
  • pulley 205 is shown as being directly supported by pivot pin 206, it is understood that a suitable commercial bearing bushing, radial ball bearing, or needle bearing could be interposed between the pulley and pin when the size of pulley 205 is sufficiently large to allow doing so.
  • Pivot pins 207 pass though complimentary holes in base 201 and segments 210 and 220 to attach common segments 210 to base 201, to each other, and to distal segment 220, forming a chain of pinned articulated segments radiating outwards from base 201.
  • segments 210 and segment 220 are shown as being directly supported by pivot pins 207, it is understood that a suitable commercial bearing bushing, radial ball bearing, or needle bearing could be interposed between the pivot hole in the segments and pin 207 when the size of segment is sufficiently large to allow doing so.
  • the upper, distal end of the cable 202 may be mechanically fastened to the distal segment 220 with an upper knurled cylindrical cleat 208.
  • the cable 202 and the segment 220 may be additionally or alternatively mechanically attached to one another by a suitable adhesive applied between the cable 202 and the segment 220 and/or suitable setscrew configured to reside within the segment 220 to apply a clamping force against the cable 202.
  • Cable 202 passes over pulleys 209 disposed within each identical segment 210. In this manner, cable 202, suitably attached between yoke 203 and distal segment 220, effectively forms the taut adducting tendon 202 located on one side of segment pivot pins 207.
  • pulleys 209 are shown as being directly supported by pivot pins 206 pressed into complimentary holes in segments 210, it is understood that a suitable commercial bearing bushing, radial ball bearing, or needle bearing could be interposed between the pulley and pin when the size of pulley 209 is sufficiently large to allow doing so.
  • Gripper 200 may include an abducting tendon 211.
  • An external strip 211 may effectively form the abducting tendon 211, which is located on the opposing side of pivot pins 207.
  • the external strip 211 may be composed of a suitable elastomeric material.
  • the distal end of the strip 211 is attached with setscrew 212 or in any desired way, such as thermal or adhesive bonding, into a complimentary groove in distal segment 220.
  • the proximal end of elastomeric strip 211 is disposed within a complementary slot in base 201 and is attached to base 201 by the clamping action of setscrew 213 or by other suitable thermal or adhesive bonding.
  • the portion of strip 211 between the distal and proximal attached ends is unconstrained and free to stretch or relax.
  • strip 211 is stretched during installation to create a tension in the strip 211 which acts to pull distal segment 220 toward base 201. This pull induces a torque in distal segment 220 and common segments 210 which acts to rotate each segment counterclockwise (CCW) with respect to pivot pins 207.
  • strip 211 could be replaced by one or more helical extension springs or a flexible, but non-stretchable tensile member attached to a suitable spring to provide the same function as an elastomeric strip.
  • Bosses 214 protruding from the sides of common segments 210, engage complimentary slots 215, in base 201 and segments 210 to constrain the angle of CCW rotation of the segment pinned to base 201 and each successive pinned segment in the segment chain, relative to the prior segment ( FIG. 4 ).
  • the segments cannot rotate CCW about pivots 207 beyond a position in which the segments are in a straight, vertical alignment with one another.
  • Clockwise (CW) rotation of any segment under the influence of an external torque causes additional stretching of strip 211, with a resulting increase in the torque applied by the strip to the CW rotated segment.
  • strip 211 functions as an abducting tendon which constantly applies a torque to segments 210 and 220 about pivot pin 207 to restore the segments into straight vertical alignment with one another.
  • Downward motion of adductor cable 202 through the central passages of segments 210 induces a CW torque in segments 210 and 220 that causes the segments to rotate CW about pivot pins 207, further stretching abductor strip 211.
  • Pads 216 are suitably bonded into complimentary recesses in segments 210.
  • Pads 216 are constructed of a material such as a suitable elastomer or a nanodiamond impregnated metal substrate, possessing a high coefficient of static friction, so as to enhance the frictional forces generated between the pad and any surface of the gripped workpiece that the pad might contact.
  • the cleat 208 mechanically fastens the distal end of adductor cable 202 to distal segment 220 in an identical manner as cleat 108 mechanically fastens the distal end of adductor cable 102 to distal segment 120.
  • Gripper 200 may include at least one actuator to provide motive force against yoke 203.
  • the at least one actuator may include at least one fluid actuator.
  • the at least one fluid actuator may include at least one piston 221A, 221B disposed and slidable within at least one cylinder 223A.
  • a surface of the yoke 203 may bear against complimentary faces of pistons 212A and 212B.
  • the yoke 203 operably connects and attaches the cable 202 to the at least one actuator.
  • Pistons 221A and 221B are contained within complimentary bores within cylinders 223A and 223B, respectively, such that the pistons are free to translate along the longitudinal axes of the cylinders 223A and 223B, but are constrained from radial movement.
  • Elastomeric seals 222A and 222B seal the periphery of pistons 221A and 221B against the interior bores of cylinders 223A and 223B, respectively, to prevent the egress of motive fluid introduced into cylinders 223A and 223B between cap 224 and pistons 221A and 221B, around pistons 221A and 221B, respectively.
  • Cylinders 223A and 224B may be press-fit, welded, soldered or braised, or adhesively bonded onto complimentary bosses provided on cap 224 to prevent the egress of motive fluid between the cylinders and cap.
  • a threaded port in the bottom of the cap 224 accepts a mating fitting 226 to allow one or a plurality of grippers 200 to be mounted onto a manifold (not shown) which shares a common fluid passage with all grippers.
  • O-ring 227 prevents the egress of motive fluid between the fitting 226 and the complimentary manifold fluid passage (not shown).
  • the periphery of fitting 226 may similarly be sealed against a complimentary face of cap 224 with O-ring 225.
  • Plug 228, closes off the open ends of cylinders 223A and 223B to prevent the ingress of contaminants into the cylinders.
  • cable 202 allows the cable to be wrapped to varying degrees about the circumference of pully 205.
  • the current embodiment comprises cylinders and slidable pistons orientated parallel to the longitudinal axis of the finger segments, the cylinders and pistons can be oriented selectively at any angle within the range of angle 60.
  • pully 205 is replaced by a pully 80, the cylinders and pistons can be oriented selectively at any angle within the range of angle 70.
  • the gripper array 300 may include multiple grippers 100 and/or grippers 200, as discussed above. As shown, the gripper array 300 includes multiple juxtaposed grippers 100.
  • the gripper array 300 may also include a manifold 40 and at least one fluid passage 50.
  • the manifold 40 may mount at least two grippers 100, 200 via the mating fitting 126, 226 and corresponding cap 124, 224.
  • the at least one fluid passage 50 may fluidly connect the grippers 100, 200 which are mounted on the manifold 40.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rheumatology (AREA)
EP20214978.7A 2019-12-31 2020-12-17 Pince d'articulation modulaire Pending EP3845345A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US201962955634P 2019-12-31 2019-12-31

Publications (1)

Publication Number Publication Date
EP3845345A1 true EP3845345A1 (fr) 2021-07-07

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ID=73855321

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20214978.7A Pending EP3845345A1 (fr) 2019-12-31 2020-12-17 Pince d'articulation modulaire

Country Status (4)

Country Link
US (2) US11285617B2 (fr)
EP (1) EP3845345A1 (fr)
CA (1) CA3101900A1 (fr)
MX (1) MX2020014171A (fr)

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JP7210615B2 (ja) * 2018-06-08 2023-01-23 ピー・エイチ・ディー，インク． 自律的に包み込む把持工具
KR102250605B1 (ko) * 2020-03-02 2021-05-10 재단법인대구경북과학기술원 로봇 관절구조 및 이를 포함하는 로봇손

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US3694021A (en) * 1970-07-31 1972-09-26 James F Mullen Mechanical hand
US4685924A (en) * 1985-10-04 1987-08-11 Massey Peyton L Prehensile thumb and finger prosthesis
US6244644B1 (en) * 1999-01-25 2001-06-12 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Compact dexterous robotic hand
JP2011121162A (ja) * 2009-12-10 2011-06-23 Ind Technol Res Inst 把持動作機能を備えるロボットフィンガーユニット
WO2017116614A2 (fr) * 2015-12-03 2017-07-06 Curt Salisbury Préhenseur de robot

Also Published As

Publication number Publication date
US11648688B2 (en) 2023-05-16
US11285617B2 (en) 2022-03-29
MX2020014171A (es) 2021-08-05
US20210197398A1 (en) 2021-07-01
US20220176570A1 (en) 2022-06-09
CA3101900A1 (fr) 2021-06-30

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